Contact force estimation for robotic assembly using motor torques. - Arne Wahrburg; Stefan Zeiss; Bjoern Matthias; Hao Ding 001 (CASE, 2014)

Combined pose-wrench and state machine representation for modeling Robotic Assembly Skills. - Arne Wahrburg; Stefan Zeiss; Bjoern Matthias; Jan Peters 001; Hao Ding 001 (IROS, 2015)